摘要
本文设计了一款龙门式十字变位全向移动起重机,能够实现货物规矩起吊和变规矩摆放。在机械结构方面,采用减速电机,动力十足;应用用麦克纳姆轮,可在二维平面轻松实现全向移动;设计了可伸缩旋转的悬臂抓手,定位精度高,操纵方便。在控制方面,采用birdmen手柄扩展板、Basra控制板和BLE4.0蓝牙模块,可靠性高,抗干扰性强,能够对整机运动与起吊实施精准控制。针对调试过程中的问题,对初步方案进行了相应改进,使整机性能得到优化和提升。
In this paper, a Longmen cross change omni directional mobile crane is designed to ensure the lifting and regulation of goods. In the mechanical structure, the deceleration motor is adopted and the power is full, and the omnidirectional movement in the two-dimensional plane can be realized by using the Michael wheel, and the flexible and rotating cantilever hand is designed. The positioning accuracy is high and the manipulation is convenient. In terms of control, birdmen handle expansion board, Basra control board and BLE4.0 Bluetooth module are adopted, with high reliability and strong anti-interference ability. Aiming at the problems in the debugging process, the corresponding improvements were made to optimize and enhance the performance of the whole machine.
引文
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